US6683775B2 - Control method for an electromagnetic actuator for the control of an engine valve - Google Patents

Control method for an electromagnetic actuator for the control of an engine valve Download PDF

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Publication number
US6683775B2
US6683775B2 US09/988,980 US98898001A US6683775B2 US 6683775 B2 US6683775 B2 US 6683775B2 US 98898001 A US98898001 A US 98898001A US 6683775 B2 US6683775 B2 US 6683775B2
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actuator body
value
obj
objective
magnetic flux
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US20020100439A1 (en
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Carlo Rossi
Gianni Padroni
Riccardo Nanni
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Marelli Europe SpA
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Magneti Marelli Powertrain SpA
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Assigned to MAGNETI MARELLI POWERTRAIN S.P.A. reassignment MAGNETI MARELLI POWERTRAIN S.P.A. CORRECTIVE ASSIGNMENT TO ADD AN OMITTED CONVEYING PARTY AND TO CORRECT AN ERROR CONTAINED IN PROPERTY NUMBER 09998980. DOCUMENT PREVIOUSLY RECORDED AT REEL 012573 FRAME 0383. Assignors: NANNI, RICHARDO, PADRONI, GIANNI, ROSSI, CARLO
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Assigned to MAGNETI MARELLI POWERTRAIN S.P.A. reassignment MAGNETI MARELLI POWERTRAIN S.P.A. TO CORRECT CONVEYING PARTY NAME ON REEL 014672 FRAME 0001 Assignors: NANNI, RICCARDO, PADRONI, GIANNI, ROSSI, CARLO
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • F01L9/21—Valve-gear or valve arrangements actuated non-mechanically by electric means actuated by solenoids
    • F01L2009/2105—Valve-gear or valve arrangements actuated non-mechanically by electric means actuated by solenoids comprising two or more coils
    • F01L2009/2109—The armature being articulated perpendicularly to the coils axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2800/00—Methods of operation using a variable valve timing mechanism

Definitions

  • the present invention relates to a control method for an electromagnetic actuator for the control of an engine valve.
  • An electromagnetic actuator for a valve of an internal combustion engine of the type described above normally comprises at least one electromagnet adapted to displace an actuator body of ferromagnetic material mechanically connected to the stem of the respective valve.
  • a control unit drives the electromagnet with a current that varies over time in order appropriately to displace the actuator body.
  • control units in particular control the voltage applied to the coil of the electromagnet in order to cause a current intensity determined as a function of the desired position of the actuator to circulate in this coil. It has been observed from experimental tests, however, that known control units of the type described above are not able to guarantee a sufficiently precise control of the law of motion of the actuator body.
  • the object of the present invention is to provide a control method for an electromagnetic actuator for the control of an engine valve that is free from the drawbacks described above and that is in particular simple and economic to embody.
  • the present invention therefore relates to a control method for an electromagnetic actuator for the control of an engine valve as claimed in claim 1.
  • FIG. 1 is a diagrammatic view, in lateral elevation and partly in section, of an engine valve and of a relative electromagnetic actuator operating in accordance with the method of the present invention
  • FIG. 2 is a diagrammatic view of a control unit of the actuator of FIG. 1;
  • FIG. 3 is a diagrammatic view of an electromagnetic circuit of the control unit of FIG. 2;
  • FIG. 4 is a diagrammatic view of an electrical circuit modelling the behaviour of parasitic currents induced in the electromagnetic actuator of FIG. 1;
  • FIG. 5 is a diagrammatic view in further detail of the control unit of FIG. 3 .
  • an electromagnetic actuator (of the type disclosed in Italian Patent Application B099A000443 filed on Aug. 4, 1999) is shown overall by 1 and is coupled to an intake or exhaust valve 2 of an internal combustion engine of known type in order to displace this valve 2 along a longitudinal axis 3 of the valve between a closed position (not shown) and a position of maximum opening (not shown).
  • the electromagnetic actuator 1 comprises an oscillating arm 4 at least partly of ferromagnetic material which has a first end hinged on a support 5 so that it can oscillate about an axis 6 of rotation perpendicular to the longitudinal axis 3 of the valve 2 , and a second end connected by means of a hinge 7 to an upper end of the valve 2 .
  • the electromagnetic actuator 1 further comprises two electromagnets 8 borne in a fixed position by the support 5 so that they are disposed on opposite sides of the oscillating arm 4 , and a spring 9 coupled to the valve 2 and adapted to maintain the oscillating arm 4 in an intermediate position (shown in FIG. 1) in which the oscillating arm 4 is equidistant from the polar expansions 10 of the two electromagnets 8 .
  • the electromagnets 8 are controlled by a control unit 11 (shown in FIG. 2) so as alternatively or simultaneously to exert a force of attraction of magnetic origin on the oscillating arm 4 in order to cause it to rotate about the axis 6 of rotation, thereby displacing the valve 2 along the respective longitudinal axis 3 and between the above-mentioned closed and maximum open positions (not shown).
  • the valve 2 is in particular in the above-mentioned closed position (not shown) when the oscillating arm 4 is in abutment on the lower electromagnet 8 and is in the above-mentioned position of maximum opening when the oscillating arm 4 is in abutment on the upper electromagnet 8 , and is in a partially open position when neither of the electromagnets 8 are being supplied and the oscillating arm 4 is in the above-mentioned intermediate position (shown in FIG. 1) as a result of the force exerted by the spring 9 .
  • the control unit 11 comprises a reference generation block 12 , a control block 13 , a drive block 14 adapted to supply the electromagnets 8 with a voltage v(t) variable over time and an estimation block 15 which is adapted to estimate, substantially in real time, the position x(t) of the oscillating arm 4 , the speed s(t) of the oscillating arm and the flux ⁇ (t) circulating through the oscillating arm 4 by means of measurements of electrical magnitudes of the drive block 14 and/or of the two electromagnets 8 .
  • each electromagnet 8 comprises a respective magnetic core 16 coupled to a corresponding coil 17 which is supplied by the drive block 14 as a function of commands received from the control block 13 .
  • the reference generation block 12 receives as input a plurality of parameters indicating the operating conditions of the engine (for instance the load, the number of revolutions, the position of the butterfly body, the angular position of the drive shaft, the temperature of the cooling fluid) and supplies the control block 13 with an objective law of motion of the oscillating arm 4 (and therefore of the valve 2 ).
  • This objective law of motion of the oscillating arm 4 is described by the combination of the objective value x obj (t) of the position of the oscillating arm 4 , the objective value s obj (t) of the speed of the oscillating arm 4 and the objective value a obj (t) of the acceleration of the oscillating arm 4 .
  • the control block 13 on the basis of the objective law of motion of the oscillating arm 4 and on the basis of the estimated values x(t), s(t) and ⁇ (t) received from the estimation block 15 , processes and supplies a control signal z(t) for driving the electromagnets 8 to the drive block 14 .
  • control methods for the electromagnets 8 used by the control unit 11 are described below with particular reference to FIG. 3, in which a single electromagnet 8 is shown for simplicity, and with particular reference to FIG. 5, in which the control unit 11 is shown in further detail.
  • the drive block 14 applies a voltage v(t) variable over time to the terminals of the coil 17 of the electromagnet 8 , the coil 17 is traversed by a current i(t) thereby generating the flux ⁇ (t) via a magnetic circuit 18 coupled to the coil 17 .
  • the magnetic circuit 18 coupled to the coil 17 is in particular composed of the core 16 of ferromagnetic material of the electromagnet 8 , the oscillating arm 4 of ferromagnetic material and an air gap 19 existing between the core 16 and the oscillating arm 4 .
  • the magnetic circuit 18 has an overall reluctance R defined by the sum of the reluctance R fe of iron and the reluctance R 0 of the air gap 19 ; the value of the flux ⁇ (t) circulating in the magnetic circuit 18 is linked to the value of the current i(t) circulating in the coil 17 by equation [2]:
  • the value of the overall reluctance R depends both on the position x(t) of the oscillating arm 4 (i.e. on the amplitude of the air gap 19 , which is equal, less a constant, to the position x(t) of the oscillating arm 4 ) and on the value assumed by the flux ⁇ (t). Less negligible errors (i.e. as a first approximation), it can be assumed that the reluctance value of iron R fe depends solely on the value assumed by the flux ⁇ (t), while the reluctance value of the air gap R 0 depends solely on the position x(t), i.e.:
  • N*i ( t ) R ( x ( t ), ⁇ ( t ))* ⁇ ( t ) [4]
  • N*i ( t ) R fe (( ⁇ ( t ))* ⁇ ( t )+ R 0 ( x ( t ))* ⁇ ( t ) [5]
  • N*i ( t ) H fe ( ⁇ ( t ))+ R 0 ( x ( t ))* ⁇ ( t ) [6]
  • K 0 , K 1 , K 2 , K 3 are constants that can be obtained experimentally by a series of measurements of the magnetic circuit 18 .
  • M is the mass of the oscillating arm 4 ;
  • B is the coefficient of hydraulic friction to which the oscillating arm 4 is subject
  • K e is the elastic constant of the spring 9 ;
  • X e is the position of the oscillating arm 4 corresponding to the rest position of the spring 9 ;
  • P e is the preloading force of the spring 9 ;
  • f(t) is the force of attraction exerted by the electromagnet 8 on the oscillating arm 4 .
  • the reference generation block 12 supplies the objective law of motion of the oscillating arm 4 to a calculation member 13 a of the block 13 , which objective law of motion is defined by the objective value x obj (t) of the position of the oscillating arm 4 , the objective value s obj (t) of the speed of the oscillating arm 4 and the objective value a obj (t) of the acceleration of the oscillating arm 4 .
  • the calculation member 13 a calculates an objective value f obj (t) of the force that the electromagnet 8 has to exert on the oscillating arm 4 in order to cause it to perform the objective law of motion established by the reference generation block 12 .
  • a calculation member 13 b of the control member 13 receives as input the objective force value f obj (t) from the calculation member 13 a , and the values of the position x(t) of the oscillating arm 4 and the flux ⁇ (t) circulating through the magnetic circuit 18 from the estimation block 15 ; as a function of the values f obj (t), x(t), and ⁇ (t) and applying equation [9], the calculation member 13 b calculates an objective value ⁇ ol (t) of the magnetic flux that has to circulate through the magnetic circuit 18 to generate the objective value f obj (t) of the force that the electromagnet 8 has to exert on the oscillating arm 4 .
  • the objective value ⁇ ol (t) of the magnetic flux is a value calculated according to an open loop control logic, since account is not taken of any interference to which the electromagnet 8 may be subject in the calculation of this objective value ⁇ ol (t); for this reason, a summing member 13 c adds a further objective value ⁇ cl (t) of the magnetic flux to the objective value ⁇ ol (t) of the magnetic flux to obtain an overall objective value ⁇ c (t) of the magnetic flux.
  • the overall objective value ⁇ ol (t) of the magnetic flux is supplied by the summing member 13 c to a calculation member 13 d which, as a function of the overall objective value ⁇ c (t), generates the control signal z(t) for driving the electromagnet 8 .
  • the further objective value ⁇ ol (t) is generated by a calculation member 13 e of the control block by means of known feedback control techniques in order to take account of any interference to which the electromagnet 8 may be subject.
  • the further objective value ⁇ ol (t) is generated by means of feedback of the estimated real state of the oscillating arm 4 with respect to the objective state of the oscillating arm 4 ;
  • the estimated real state of the oscillating arm 4 is defined by the values estimated by the estimation block 15 of the position x(t) of the oscillating arm 4 , of the speed s(t) of the oscillating arm 4 and of the magnetic flux ⁇ (t), while the objective state of the oscillating arm 4 is defined by the objective value x obj (t) of the position of the oscillating arm 4 , by the objective value s obj (t) of the speed of the oscillating arm 4 and by the objective value ⁇ ol (t) of the magnetic flux.
  • the electromagnet 8 is driven in voltage and the control signal z(t) generated by the calculation member 13 d substantially indicates the value of the voltage v(t) to be applied to the coil 17 of the electromagnet 8 ;
  • the calculation member 13 d receives as input the overall objective value ⁇ c (t) of the magnetic flux and the measured value i(t) (measured by an ammeter 20 ) of the current circulating through the coil 17 and by applying equation [1] calculates the value of the voltage v(t) to be applied to the coil 17 to obtain the generation of the overall objective value ⁇ c (t) of the magnetic flux.
  • the electromagnet 8 is driven in voltage by means of a switching amplifier integrated in the drive block 14 ; the voltage v(t) applied to the coil 17 of the electromagnet 8 therefore varies continuously between three values (+V supply , 0, ⁇ V supply ) and the control signal z(t) indicates the PWM, i.e. the time sequence of alternation of the three voltage values to be applied to the coil 17 .
  • control block 13 does not comprise the calculation member 13 e and the control of the magnetic flux ⁇ (t) is carried out exclusively according to an open loop control logic, i.e. using only the objective value ⁇ ol (t) of the magnetic flux.
  • the electrical supply of the electromagnet 8 is controlled as a function of an overall objective value ⁇ c (t) of the magnetic flux ⁇ (t) circulating in the magnetic circuit 18 ; controlling the electromagnets 8 as a function of the magnetic flux ⁇ (t) makes it possible for the oscillating arm 4 and therefore the valve 2 very precisely to respect the objective law of motion.
  • the methods used by the estimation block 15 to calculate the value of the flux ⁇ (t), the value of the position x(t) of the oscillating arm 4 and the value of the speed s(t) of the oscillating arm 4 are described below with particular reference to FIG. 3 .
  • the flux ⁇ (t) can be calculated by measuring the current i(t) circulating through the coil 17 by means of the ammeter 20 , by measuring the voltage v(t) applied to the terminals of the coil 17 by means of a voltmeter and by knowing the value of the resistance RES of the coil 17 (which value can be readily measured).
  • the conventional instant 0 is selected such that the value of the flux ⁇ (0) at this instant 0 is precisely known; in particular, the instant 0 is normally selected within a time interval during which current does not pass through the coil 17 and, therefore, the flux ⁇ is substantially zero (the effect of any residual magnetisation is negligible), or the instant 0 is chosen at a predetermined position of the oscillating arm 4 (typically when the oscillating arm 4 is in abutment on the polar expansions 10 of the electromagnet 8 ), at which the value of the position x, and therefore the value of the flux ⁇ , is known.
  • the method described above for the calculation of the flux ⁇ (t) requires continuous reading of the current i(t) circulating through the coil 17 and a continuous knowledge of the value of the resistance RES of the coil 17 which resistance value, as is known, varies with variations in the temperature of the coil 17 .
  • the estimation block 15 works with both the electromagnets 8 in order to use the estimate performed with one electromagnet 8 when the other is de-activated.
  • the estimation block 15 calculates a mean of the two values x(t) calculated with the two electromagnets 8 , possibly weighted as a function of the precision attributed to each value x(t) (generally the estimation of the position x carried out with respect to an electromagnet 8 is more precise when the oscillating arm 4 is relatively close to the polar expansions 10 of this electromagnet 8 ).
  • the value of the equivalent parasitic current i p (t) can be obtained by applying a known method of L-antitransformation to equation [20]; preferably, the value of the equivalent parasitic current i p (t) is obtained by making equation [20] discrete and applying a digital method (that can be readily implemented via software).
  • the equivalent parasitic current i p (t) is applied to the magnetic circuit 18 by circulating in a single equivalent turn p, and therefore the equivalent parasitic current i p (t) produces a contribution h p (t) of ampere-turns equal to its intensity, i.e.:
US09/988,980 2000-11-21 2001-11-19 Control method for an electromagnetic actuator for the control of an engine valve Expired - Lifetime US6683775B2 (en)

Applications Claiming Priority (3)

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IT2000BO000678A ITBO20000678A1 (it) 2000-11-21 2000-11-21 Metodo di controllo di un azionatore elettromagnetico per il comando di una valvola di un motore
ITBO2000A0678 2000-11-21
ITBO2000A000678 2000-11-21

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EP (1) EP1209328B1 (de)
BR (1) BRPI0106023B1 (de)
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050076866A1 (en) * 2003-10-14 2005-04-14 Hopper Mark L. Electromechanical valve actuator
US20070028870A1 (en) * 2005-08-08 2007-02-08 Masahiko Asano Electromagnetically driven valve
US20070028873A1 (en) * 2005-08-08 2007-02-08 Masahiko Asano Electromagnetically driven valve and driving method of the same
US20070058321A1 (en) * 2005-09-09 2007-03-15 Masahiko Asano Electromagnetically driven valve and control method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10205383B4 (de) * 2002-02-09 2007-04-12 Bayerische Motoren Werke Ag Verfahren zur Steuerung der Bewegung eines Ankers eines elektromagnetischen Aktuators
DE10244335B4 (de) * 2002-09-24 2008-01-03 Bayerische Motoren Werke Ag Verfahren zur Steuerung der Bewegung eines Ankers eines elektromagnetischen Aktuators
DE10318246A1 (de) * 2003-03-31 2004-11-11 Bayerische Motoren Werke Ag Verfahren zur Steuerung der Bewegung eines Ankers eines elektromagnetischen Aktuators
JP4179250B2 (ja) * 2004-09-03 2008-11-12 トヨタ自動車株式会社 電磁駆動弁の制御装置
CN1908386A (zh) 2005-08-02 2007-02-07 丰田自动车株式会社 电磁驱动阀
JP2007040162A (ja) 2005-08-02 2007-02-15 Toyota Motor Corp 電磁駆動弁
DE102013224662A1 (de) 2013-12-02 2015-06-03 Siemens Aktiengesellschaft Elektromagnetischer Aktuator
DE102017217869A1 (de) * 2017-10-09 2019-04-11 Zf Friedrichshafen Ag Steuerung eines Aktuators

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US6450478B2 (en) * 1999-10-21 2002-09-17 Arichell Technologies, Inc. Reduced-energy-consumption latching actuator
US6453855B1 (en) * 1999-11-05 2002-09-24 MAGNETI MARELLI S.p.A. Method for the control of electromagnetic actuators for the actuation of intake and exhaust valves in internal combustion engines
US6481396B2 (en) * 2000-07-22 2002-11-19 Daimlerchrysler Ag Electromagnetic actuator for operating a gas exchange valve of an internal combustion engine

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DE19544207A1 (de) 1995-11-28 1997-06-05 Univ Dresden Tech Verfahren zur modellbasierten Messung und Regelung von Bewegungen an elektromagnetischen Aktoren
JPH10122059A (ja) 1996-10-25 1998-05-12 Unisia Jecs Corp Ｅｇｒバルブの制御装置
US6227650B1 (en) * 1997-04-08 2001-05-08 Matsushita Electric Industrial Co., Ltd. Ink jet printer
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EP0959479A2 (de) 1998-04-28 1999-11-24 Siemens Automotive Corporation Verfahren zur Regelung der Geschwindigkeit eines Ankers in einem elektromagnetischem Aktuator
US6397798B1 (en) 1998-10-15 2002-06-04 Sagem Sa Method and device for electromagnetic valve actuating
US6249418B1 (en) * 1999-01-27 2001-06-19 Gary Bergstrom System for control of an electromagnetic actuator
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Cited By (6)

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Publication number Priority date Publication date Assignee Title
US20050076866A1 (en) * 2003-10-14 2005-04-14 Hopper Mark L. Electromechanical valve actuator
US20070028870A1 (en) * 2005-08-08 2007-02-08 Masahiko Asano Electromagnetically driven valve
US20070028873A1 (en) * 2005-08-08 2007-02-08 Masahiko Asano Electromagnetically driven valve and driving method of the same
US7353787B2 (en) 2005-08-08 2008-04-08 Toyota Jidosha Kabushiki Kaisha Electromagnetically driven valve
CN100424324C (zh) * 2005-08-08 2008-10-08 丰田自动车株式会社 电磁驱动阀
US20070058321A1 (en) * 2005-09-09 2007-03-15 Masahiko Asano Electromagnetically driven valve and control method thereof

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BRPI0106023B1 (pt) 2016-11-29
DE60103118D1 (de) 2004-06-09
BR0106023A (pt) 2002-06-25
ES2218327T3 (es) 2004-11-16
EP1209328A2 (de) 2002-05-29
EP1209328A3 (de) 2002-09-25
ITBO20000678A1 (it) 2002-05-21
US20020100439A1 (en) 2002-08-01
EP1209328B1 (de) 2004-05-06
DE60103118T2 (de) 2005-04-28
ITBO20000678A0 (it) 2000-11-21

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